Autonomous Route Setting for Stable Following Control
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Solution Overview
Problem
Existing autonomous driving technologies struggle to maintain stable follow-up control when a preceding vehicle, such as a two-wheeled vehicle, weaves right and left, as they determine the vehicle is not parallel, leading to unstable host vehicle movement.
Innovation Solution
A route setting method and device that detect positions of other vehicles, calculate displaced amounts of their traveling tracks, and adjust the host vehicle's route based on the tracks of other vehicles, preferentially choosing stable tracks from nearby vehicles to ensure stable following.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the host vehicle follows the traveling tracks of the preceding vehicle when the tracks are parallel, then the follow-up control is stable, but the host vehicle cannot follow when the preceding vehicle is weaving right and left
Solution Approach 1:
The system dynamically adjusts the selection of target vehicle based on real-time track stability evaluation. When the preceding vehicle's traveling track is determined to be unstable (weaving), the host vehicle automatically switches to follow another vehicle with stable tracks, enabling adaptive response to changing road conditions while maintaining control stability
Solution Approach 2:
The system introduces an intermediate evaluation mechanism that assesses the stability of traveling tracks before establishing follow-up control. This intermediary assessment layer filters out unstable tracks (from weaving vehicles) and selects stable alternative tracks, resolving the conflict between maintaining stability and adapting to weaving vehicles
2Adaptability or versatility
If the conditions for determining parallel traveling are relaxed to allow follow-up control when preceding vehicle is weaving, then the host vehicle can follow more vehicles, but the host vehicle weaves and travels unstably
Solution Approach 1:
The system continuously monitors the stability of traveling tracks during follow-up control and provides feedback to the vehicle selection mechanism. When instability is detected in the current target vehicle's tracks, the system feeds back this information to trigger a switch to an alternative vehicle, maintaining stability while preserving adaptability
Solution Approach 2:
The follow-up control system dynamically evaluates track stability in real-time and adjusts the target vehicle selection accordingly. This dynamic adaptation allows the system to follow weaving vehicles only when their tracks remain within acceptable stability thresholds, preventing host vehicle instability while maintaining versatility
3Device complexity
If the host vehicle continuously follows the preceding vehicle regardless of track stability, then the follow-up control is simple, but the host vehicle cannot avoid unstable movement from weaving vehicles
Solution Approach 1:
The system performs preliminary evaluation of traveling track stability before establishing follow-up control. By assessing track stability in advance and pre-selecting stable target vehicles, the system avoids the complexity of continuous monitoring and switching while ensuring stable follow-up control from the outset
Data Source
AI summary
A route setting method capable of causing a host vehicle to continuously follow traveling tracks of other vehicles including a preceding vehicle so as to travel stably uses a peripheral vehicle sensor installed in the host vehicle to detect positions of other vehicles traveling around the host vehicle, and a controller for setting a route of the host vehicle according to traveling tracks of the other vehicles based on histories of positions of the other vehicles, the method including calculating a displaced amount of traveling tracks of the preceding vehicle specified from the other vehicles, and setting the route of the host vehicle according to traveling tracks of another vehicle different from the preceding vehicle when the displaced amount of the traveling tracks of the preceding vehicle is a threshold or greater.